CN113900413A - Smooth speed control method of numerical control system - Google Patents
Smooth speed control method of numerical control system Download PDFInfo
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- CN113900413A CN113900413A CN202111407171.2A CN202111407171A CN113900413A CN 113900413 A CN113900413 A CN 113900413A CN 202111407171 A CN202111407171 A CN 202111407171A CN 113900413 A CN113900413 A CN 113900413A
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- OVSKIKFHRZPJSS-UHFFFAOYSA-N 2,4-D Chemical compound OC(=O)COC1=CC=C(Cl)C=C1Cl OVSKIKFHRZPJSS-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate
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Abstract
The invention relates to a smooth speed control method of a numerical control system, which comprises the steps of firstly identifying the number of sections of a non-smooth machining path and establishing a smooth machining path model; then, establishing the applicable time of the model according to the length and the speed of the original path; then, establishing boundary conditions of the model, further establishing control points through which the model needs to pass, and ensuring that the shape of the model path is consistent with the overall trend of the shape of the original path; and finally, solving undetermined coefficients in the model according to conditions so as to solve the smooth speed control model. The invention relates to a method for a numerical control system to recognize a machining path with smooth overall shape from multiple uneven machining paths to carry out speed control.
Description
Technical Field
The invention relates to the technical field of numerical control systems, in particular to a method for identifying a machining path with a smooth overall shape from multiple sections of unsmooth machining paths by a numerical control system to control the speed.
Background
The numerical control system smooth speed control is a function that identifies an overall shape from a plurality of program segments including pre-reading before and after in speed control based on acceleration, and determines a smooth speed.
In the case of a curve shape specified by a continuous minute straight line, the machining program is rounded and specified by the minimum setting unit, and the machining shape approximates to a polygonal line. When determining the speed using the normal acceleration, the optimal speed is automatically calculated faithfully for the specified shape of the program, and therefore, the acceleration is increased by the command and the deceleration processing is performed in some cases. In this case, generally, a speed control for recognizing the overall shape is performed using a smooth speed control, so that the speed is increased by controlling the local deceleration and performing the smooth speed control.
Chinese patent application No. 201410080445.5 discloses a numerical controller with a machining path repairing function and a method for repairing a machining path thereof, which automatically generates another machining path which gradually changes and approaches to the machining path of the original design prototype without modifying the original machining program file, and replaces the machining path generated by the original machining program file with an acceptable error set by the user to generate a smoother machining path, thereby achieving the purposes of smoother machining path and improving the machining stability. When the speed is planned under a relatively smooth processing path, frequent and violent speed changes can not occur, and the shaking of the machine table can also be reduced.
The traditional numerical control system control method is controlled according to a processing path programmed by a user, and a controlled target path is approximate to or completely consistent with the programmed path, so that deceleration processing is performed at certain high-curvature sharp corners to prevent overlarge acceleration, the smoothness of the overall path is poor, and the processing efficiency is low.
The method in the prior art can improve the smoothness of the traditional numerical control system control method to a certain extent, but the method can only process two continuous sections of processing paths or three continuous sections of processing paths, and the method is not applicable to processing paths with more than three continuous sections, and a new method needs to be explored.
Disclosure of Invention
The present invention provides a method for controlling a smooth speed of a numerical control system, so as to solve the problems encountered in the background art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a smooth speed control method of a numerical control system comprises the following steps:
the first step is as follows: establishing smooth machining path model
Calculating the curvature between two continuous machining paths according to the programmed machining path of a user, further solving the corresponding allowable acceleration, if the allowable acceleration and the path length are lower than a certain allowable value, considering the two machining paths as the unsmooth machining sections, finding out all the continuous unsmooth sections according to the method, and setting the total number of the unsmooth machining paths as n, establishing a smooth machining path model in the x direction and the z direction as follows:
in the formula 1, axiN +4 undetermined coefficients are determined for the model, and t is the processing time.
In the formula 2, aziN +4 undetermined coefficients are determined for the model, and t is the processing time.
The second step is that: establishing model application time
Let the length of each section of the processing path be Li(i 1, 2.., n), the total length LGeneral assemblyComprises the following steps:
setting the initial speed of the first section of the processing path as VsThe final speed of the last section of the processing path is VeThe maximum speed of the whole processing process is VmThen, the applicable time T of the model is:
the third step: establishing model location boundary conditions
The newly established model processing path must be in seamless butt joint with the joint of the original processing path, that is, the initial position of the model path coincides with the initial position of the original path, and the end position of the model path coincides with the end position of the original path, so as to ensure the boundary condition of continuous positions, namely:
fx(0)＝x0formula 5
fz(0)＝z0Formula 6
fx(T)＝xnFormula 7
fz(T)＝znFormula 8
X in formula 50Is the x-direction position coordinate of the initial point of the first segment of the processing path, z in formula 60Is the z-direction position coordinate of the initial point of the first segment of the processing path, x in formula 7nZ in equation 8 as the position coordinate of the end point of the last machining path in the x directionnIs the position coordinate of the end point of the last section of the processing path in the z direction.
The fourth step: establishing model velocity boundary conditions
By performing differential processing on equations 1 and 2, the following results can be obtained:
the joining speed of the newly established model track and the original processing path cannot be suddenly changed, otherwise, the model track and the original processing path are blocked, so that the numerical control machine tool shakes, the initial speed of the model path is required to be equal to the initial speed of the original path, the termination speed of the model path is required to be equal to the termination speed of the original path, and the continuous boundary condition of the speeds is ensured, namely:
δ in formulae 11 and 12x1Is the distance in the x-direction of the first machining path, deltaz1Delta in equations 13 and 14 as the z-direction distance of the first machining pathxnThe distance in the x-direction of the last machining path, δznThe distance in the z direction of the last machining path.
The fifth step: establishing model acceleration boundary conditions
By performing differential processing on equations 9 and 10, the following results can be obtained:
in order to ensure the smoothness in the numerical control machining process, the newly established model track and the joint acceleration of the original machining path cannot be suddenly changed, otherwise, the numerical control machine tool can generate flexible impact, the initial acceleration of the model path is required to be equal to the initial acceleration of the original path, the terminal acceleration of the model path is required to be equal to the terminal acceleration of the original path, and the continuous boundary condition of the acceleration is ensured, namely:
fx"(0) ═ 0 formula 17
fz"(0) ═ 0 formula 18
fx"(T) ═ 0 formula 19
fz"(T) ═ 0 formula 20
And a sixth step: establishing model control point conditions
To ensure that the overall shape of the model is substantially consistent with the original machining path, control points are added, and the control points may be selected as the midpoints of the original machining paths (except for the first segment and the last segment, and n-2 segments in total), that is:
x in formulae 21 and 22iIs the x-direction position coordinate of the end point of the ith section of the processing path, ziIs the z-direction position coordinate of the end point of the ith section of the processing path.
Equations 21 and 22 both contain n-2 equations, corresponding to n-2 control points.
The seventh step: solving model
Undetermined coefficient a of the model in equation 1xiA total of n +4 (i ═ 0, 1., n +3), a total of n +4 equations, and a total of 5, 7, 11, 13, 17, 19, 21 (including n-2 equations) can be solvedxi(i＝0,1,...,n+3)。
Coefficient a to be determined of the model in equation 2ziA total of n +4 (i ═ 0, 1., n +3), a total of n +4 equations, and a total of 6, 8, 12, 14, 18, 20, 22 (including n-2 equations) can be solvedzi(i＝0,1,...,n+3)。
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a method for a numerical control system to recognize a machining path with smooth overall shape from multiple uneven machining paths to carry out speed control.
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The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts. Wherein:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a graph comparing the smooth speed control effect of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further described in detail with reference to the attached drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution to which the present invention relates.
According to the technical scheme of the invention, a plurality of alternative structural modes and implementation modes can be provided by a person with ordinary skill in the art without changing the essential spirit of the invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and examples.
Suppose numerical control system G code:
...
G1 X0 Z0 F100
X20
X40 Z-5
X60 Z5
X80 Z0
X100
...
as shown in fig. 1 and 2, a method for controlling a smooth speed of a numerical control system includes the following steps:
the first step is as follows: establishing smooth machining path model
A total of 5 segments, according to the formulas 1 and 2, the model can be established as
The second step is that: validating model application time
L1＝20mm L2＝20.6155mm L3＝22.3607mm L4＝20.6155mm L5＝20mm
Vs＝Ve＝Vm＝100mm/s
According to the formula 3, a
LGeneral assembly＝L1+L2+L3+L4+L5＝103.5917mm
According to formula 4, a
T＝1.036s
The third step: establishing model location boundary conditions
According to the formulas 5, 6, 7 and 8, the compounds can be obtained
fx(0) 0-type 23
fz(0) 0-type 24
fx(1.036) ═ 100 formula 25
fz(1.036) ═ 0 formula 26
The fourth step: establishing model velocity boundary conditions
According to the formulas 9 and 10, the compound can be obtained
According to the formula 11, the formula 12, the formula 13, the formula 14, can obtain
fx' (0) ═ 100 formula 27
fz' (0) ═ 0 formula 28
fx' (1.036) ═ 100 formula 29
fz' (1.036) ═ 0 formula 30
The fifth step: establishing model acceleration boundary conditions
According to the formulas 15 and 16, the compounds can be obtained
According to the formulas 17, 18, 19 and 20, the compounds can be obtained
fx"(0) ═ 0 formula 31
fz"(0) ═ 0 formula 32
fx"(1.036) ═ 0 formula 33
fz"(1.036) ═ 0 formula 34
And a sixth step: establishing model control point conditions
According to the formulas 21 and 22, the compounds are obtained
fx(0.304) ═ 30 formula 35
fz(0.304) ═ 2.5 formula 36
fx(0.52) ═ 50 formula 37
fz(0.52) ═ 0 formula 38
fx(0.736) ═ 70 formula 39
fz(0.736) ═ 2.5 formula 40
The seventh step: solving model
The combination of 23, 25, 27, 29, 31, 33, 35, 37, and 39 can obtain
The combined type 24, 26, 28, 30, 32, 34, 36, 38, 40 can be obtained
The resulting model trajectory control effect is as in the invention section of fig. 2, and for comparison, the prior art trajectory control result is also shown in fig. 2. In the figure, the abscissa is the X-axis coordinate and the unit is mm, the ordinate is the Z-axis coordinate and the unit is mm, and as can be seen from the figure 2, compared with the prior art, the control track effect of the invention has no broken line, the speed and the acceleration can be continuously guided, and the effect of smooth speed control is achieved.
The invention recognizes the overall shape of the track from a plurality of program segments containing pre-reading based on the programmed track of the user, and can achieve the effect of smooth speed control even at the tip corner part with increased acceleration, thereby improving the overall processing efficiency of the system.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A numerical control system smooth speed control method is characterized by comprising the following steps:
the first step is as follows: firstly, identifying the number of sections of an uneven machining path, and establishing a smooth machining path model;
the second step is that: then, establishing the applicable time of the model according to the length and the speed of the original path;
the third step: then, establishing boundary conditions of the model, further establishing control points through which the model needs to pass, and ensuring that the shape of the model path is consistent with the overall trend of the shape of the original path;
the fourth step: and finally, solving undetermined coefficients in the model according to conditions so as to solve the smooth speed control model.
2. The method for controlling the smooth speed of the numerical control system according to claim 1, wherein: in the third step, the boundary conditions that establish the model include conditions where position, velocity and acceleration are continuous.
3. The method for controlling the smooth speed of the numerical control system according to claim 2, wherein: when establishing the boundary condition of the model position, the method comprises the following steps: the model path initial position and the original path initial position coincide, and the model path end position and the original path end position coincide.
4. The method for controlling the smooth speed of the numerical control system according to claim 2, wherein: when establishing the model speed boundary condition, the method comprises the following steps: the model path initial speed is equal to the original path initial speed, and the model path termination speed is equal to the original path termination speed.
5. The method for controlling the smooth speed of the numerical control system according to claim 2, wherein: when establishing the model acceleration boundary condition, the method comprises the following steps: the model path initial acceleration and the original path initial acceleration are equal, and the model path termination acceleration and the original path termination acceleration are equal.
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| JP2005352876A (en) * | 2004-06-11 | 2005-12-22 | Toyoda Mach Works Ltd | Nc data formation device, control device of 5-axial nc machine tool, and cl data creation device |
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